Comments (4)
I'm not sure if it makes sense to use the Action
machinery here. That is mostly designed to skip ahead in a multi-stage plan and start execution. There are only really two states in this demo, so it seems like overkill. I think we're better off making some more straightforward optimizations, e.g. #13, first.
Did you have something in particular in mind?
from ada_meal_scenario.
I see this current version of two states as really a first pass at something that is far more capable and actually has more complicated logic for feeding [e.g. if the person is talking/wants to eat, what food item there is and how to pick each different item, if they want water, if we need to regrasp utensils or clear the table].
Doesn't it seem like switching to Action
s now will allow us to both generalize better and grow easier?
from ada_meal_scenario.
I agree, in theory.
We're still working out the kinks of Action
in the Librarian demo. We now have the capability of bypassing steps that we don't want to execute (via BypassableAction
), but do not have a convenient way of parallelizing planning and execution. I think we should finish working out the details in that demo---and maybe move the base classes to PrPy---before porting the code over here, too.
@jeking04 What do you think?
from ada_meal_scenario.
I believe this has been solved with the merging of Jen's branch:
1a8a4cc
from ada_meal_scenario.
Related Issues (20)
- Active manipulator HOT 1
- Clean up unused imports HOT 1
- Extrinsic calibration of Structure IO sensor HOT 2
- Fix loose camera mount HOT 1
- OpenNI StructureIO IR image speckled HOT 8
- Replacement usb cable of StructureIO sensor HOT 9
- Slow performance with prpy 0.4.0 HOT 41
- Demo logic for faster plans HOT 7
- Morsel Detection using Plate HOT 3
- Tag demo and move to Jen's branch HOT 1
- feature/action_framework: Morsel detection callback continues after morsel is grabbed HOT 2
- feature/action_framework: What is the best way to execute task repeatedly? HOT 3
- feature/action_framework: keep-alive motion HOT 2
- Error handling with actions HOT 3
- feature/action_framework: manip.PlanToConfiguration results in program to freeze HOT 1
- Morsel detector sometimes does not see bites HOT 1
- Get Shorter Forks HOT 3
- Fork part occludes field of view of the camera
- What arguments should I pass to the biteserver to visualize the output? HOT 2
- Use Kinova's fork holder
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from ada_meal_scenario.